CN101034503A - Light flight simulating device - Google Patents
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- CN101034503A CN101034503A CN 200710021402 CN200710021402A CN101034503A CN 101034503 A CN101034503 A CN 101034503A CN 200710021402 CN200710021402 CN 200710021402 CN 200710021402 A CN200710021402 A CN 200710021402A CN 101034503 A CN101034503 A CN 101034503A
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Abstract
The invention is a light flight simulator, belonging to a simulator to simulate air flight, comprising 6-freedom moving platform, movement controller, pattern processing computer, helmet, master control force feedback unit, sound synthesis and reproducing device, computer for processing models and kernel calculation, driving handle, pedals, switches and handgrips, where the 6-freedom moving platform comprises main beam, truss structure, driving handle, pedal, screw, motor, and chassis, as well as switches, handgrips and other parts equipped on cabin. And the invention implements 6-freedom full dynamic simulation, effectively reduces structural height, and has features of small volume, lightweight, simulation reality and low price.
Description
Technical field
Patent of the present invention relates to the system in the ground simulation airflight, is used for occasions such as aircraft driver training and aircraft driving cabin design evaluation.Particularly has the inside and outside three-dimensional what comes into a driver's of passenger cabin, the power sense and the sense of touch real simulation of operations such as all jociey sticks, pedal, knob, button, toggle, handle in the passenger cabin, dynamic simulation of six degree of freedom and auditory simulation, the flight simulator that can in common office building, install and use.
Background technology
The basic composition of flight simulator such as Fig. 1.Divide from technology and functional perspective, present flight simulator can roughly be divided into based on the traditional flight simulator of conventional art with based on the flight simulator of virtual reality.
Traditional flight simulator is representative with full operation flight analog machine.The typical technology feature of full operation flight analog machine is to adopt giant-screen (comprising the ball curtain) to realize the outer visual simulation of passenger cabin; Adopt the touching simulation of interior visual simulation of 1: 1 passenger cabin realization passenger cabin in kind and switching manipulation etc.Because the equipment in the cabin is just the same with actual equipment, has therefore both reproduced what comes into a driver's in the cabin, the steering force feedback and the finger touch simulation of limbs are also provided.The general volume of this analoglike machine, weight are big, need be equivalent to the function building of common three-storey building height, need the high-power driving system.In addition, show and operating effect, therefore need complicated hardware equipment and interface to guarantee data acquisition and driving because below deck equipment will have as real system.Because weight is big, this analoglike machine is difficult to adopt compound equivalent ball-joint, therefore often adopts 6-6 type parallel institution (stewart mechanism).
Basic technical features based on the flight simulator of virtual reality is to adopt virtual reality technology to realize visual simulation (in order to satisfy the requirement of full visual field simulation, generally adopting helmet-type what comes into a driver's equipment rather than Table top type what comes into a driver's equipment); Adopt the data glove of band force feedback or tactile generator to realize hand force feedback and touching simulation.Its advantage is that volume is little, and is in light weight, and same set of system can simulate the aircraft cockpit of different model flexibly.Shortcoming based on the flight simulator of virtual reality is can't see outdoor scene and the hand of oneself in the cabin with pilot after going up the helmet; Switching manipulation simulation difficulty; The data glove of band force feedback influences people's action; Data hand is with foreign body sensation, influences finger touch; Force feedback data gloves can't provide arm power, palm power and finger strength feedback true to nature simultaneously at present; Flight simulator based on virtual reality does not generally have dynamic simulation, therefore according to the definition of relevant flight simulator, generally claims flight training device.
In the flight simulator based on virtual reality, a kind of scheme that adopts operands such as physical object simulating switch is arranged, be called TOPiT.This scheme is a kind of passenger cabin simulation system, by a servo-drive system suitable switch in kind is delivered to suitable locus in due course, for operating personnel's operation.Wherein, the switch of servo-drive system simulation part has been installed various types of switches in advance, during use suitable switch transition is arrived the position that supplies personnel operation.Data glove has been adopted in personnel's hand location.Potential problems of this scheme are to simulate widely used keyboard operation in the present aircraft cockpit, because under this occasion, servo-drive system is difficult to catch up with people's operating speed.Another problem of this scheme is when switchtype is a lot, and the system architecture complexity realizes that the conversion of switchtype will be very difficult, and being difficult to provides suitable switch to operating personnel at the appointed time.
Summary of the invention
The objective of the invention is to propose a kind of light flight simulating device systems technology scheme that can overcome above-mentioned prior art shortcoming, be characterized in guaranteeing that the simulator volume is small and exquisite, the what comes into a driver's equipment cost is cheap, system is simple; Overcome existing virtual reality technology difficulty in the switching manipulation simulation in the cabin; Guarantee when realizing the simulation of six degree of freedom innervation that simulator uses the overall height in place within common office building floor height.
Small and exquisite in order to ensure the simulator volume, the what comes into a driver's equipment cost is cheap, the three-dimensional helmet that adopts virtual reality is as what comes into a driver's equipment, what comes into a driver's is all realized by the helmet in what comes into a driver's and the cabin out of my cabin; In order to overcome existing virtual reality technology difficulty in the switching manipulation simulation in the cabin, half virtual reality passenger cabin technology is proposed.Be not less than the traditional analog machine in order to ensure dynamic analog functuion, reduce the drive system cost simultaneously and use restriction, develop pure motorized motions platform, realize the complete dynamic motion simulation of 6DOF; In order to guarantee that overall height that simulator uses the place within common office building floor height, proposes side setting type motion platform layout, effectively reduce structure height; Realization standard 6-3 parallel institution is simplified control algolithm.
Half virtual reality passenger cabin scheme is the principle construction analog capsule cabin according to " soon for empty, hand is touched and is reality ", all display unit material objects such as panel board in the cancellation cabin, but the part of all tangible operations all keeps 1: 1 material object.That is, the three-dimensional helmet that adopts virtual reality is as what comes into a driver's equipment, and not only what comes into a driver's generates with computing machine out of my cabin, and what comes into a driver's also generates (virtual reality) with computing machine without exception in the cabin, comprises flying panel, switch, pilot's hand etc.Its effect is that the what comes into a driver's equipment volume is little, in light weight, saves panel board etc., has further alleviated weight, has reduced system complexity.What comes into a driver's also adopts virtual reality to realize in the cabin, has accomplished " hard with soft generation ", has increased the dirigibility of system, makes same set of basic hardware can simulate the aircraft of different model through simple refit.Another benefit of weight saving is to use fractional-horsepower motor actuation movement platform, does not need hydraulic power source or heavy-duty motor.Another benefit of cancellation panel board is that the marker graphic of first-class video measuring equipment of shooting or camera location usefulness can be installed in the position of vacating, and helps the realization of still undocumented contactless video measuring location.
We have carried out systemic test analysis to the static state and the dynamic accuracy characteristic of tracker and data glove, have proposed three kinds and have improved one's methods.The one,, propose difference electromagnetism track algorithm and improve the palm bearing accuracy; The 2nd,, with near the auxiliary definite hand shape pattern of the switchtype the finger, proofread and correct the finger locating error with hand shape pattern; The 3rd,, designed typical switch at positioning accuracy request, be used to demarcate the pilot and point parameter.Its effect is guaranteed half virtual reality passenger cabin scheme effective, promptly guarantees the trick unanimity, or the actual situation unanimity.
The present invention has designed side setting type motion platform layout, has reduced whole height of devices.Its effect is to guarantee that light flight simulating device can install and use in common office building.
It is six points that the present invention also adopts the basis, and motion platform is the 6-3 formula 6DOF parallel institution of desirable 3 points.Its effect is that relevant dynamics normal solution is found the solution simpler than 6-6 formula.
The present invention also adopts the pure electronic 6-dof motion platform scheme of direct drive-type servomotor, does not have drive apparatus.Its effect is to realize dynamic simulation, and drive system is very close to each other, and equivalent stiffness is big, and the equivalent inertia of drive system is little.The present invention adopts the core motor rotor, can pass motor in the leading screw telescopic process.Its benefit is to have increased the leading screw stroke, helps reducing simulator one-piece construction height.
Realize the overall technical architecture of above-mentioned technical characterstic, comprise 6-dof motion platform, motion controller, be used for the computing machine of processing graphics and the helmet, main steering force feedback unit, sound is synthetic and loudspeaker, be used for transaction module and core calculations with computing machine, jociey stick, pedal, switch.Wherein the output signal of jociey stick, pedal, switch is sent into the input that is used for transaction module and core calculations usefulness computing machine respectively, the synthetic input that reaches loudspeaker of input, sound of the input of the input of motion controller, the computing machine that is used for processing graphics and the helmet, main steering force feedback unit is sent in the output of this computing machine respectively, the output signal of three unit of aftermentioned directly offers the driver respectively, and the output signal of motion controller offers the driver after via the 6DOF motion platform.Described 6DOF motion platform comprises girder (1), truss-frame structure (2), and jociey stick (3), pedal (4), leading screw (5), motor (6), chassis (7), and switch, two were bent word beam (8,9) and front beam (10) about its middle girder (1) comprised.About ends of two bow word beams (8,9) be connected, the other end of two bow word beams (8,9) is connected in front beam (10) two ends respectively, and to constitute vertical view be the structure of equilateral triangle; Truss-frame structure (2) comprises left and right sides truss support connecting link (12), floor (13), seat (14), instrument and equipment cabin (15).Seat (14) is installed between latter half of floor, floor (13) and the girder (1), and girder (1) rear end and floor are linked together, and under-seat is instrument and equipment cabin (15).About an end of two truss support connecting links (12) be connected on the floor of the first half left and right sides, floor, about the other end of two truss support connecting links (12) be connected on the front beam (10) of girder (1); Chassis (7) is the regular hexagon structure, orthohexagonal six drift angle places are respectively by connecting the end that pallet connects motor (6), the other end of motor (6) is by connecting the end that pallet connects leading screw (5), is connected in three drift angle places and girder (1) formation one one-piece construction of triangle girder (1) after the other end of two adjacent rhizoid thick sticks (5) is connected respectively.Jociey stick is installed in the centre of the front beam (10) of girder (1), about front end passes through two support bars (11) be connected truss-frame structure (2) about on the two truss support connecting links (12), the rear end links to each other with handle; Pedal (4) is installed in the front portion on the floor (13) of truss-frame structure (2).Switch is installed in the platform appropriate location by the actual passenger cabin layout of institute's simulation aircraft at 1: 1.
Described switch is meant main equipment with finger manipulation, as knob, button, toggle, handle.
That the effect of technique scheme is that light flight simulating device has been realized is in light weight, volume is little, simulation is true to nature, and is cheap, and repacking flexibly.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the basic composition synoptic diagram of existing flight simulator
Fig. 2 is the light flight simulating device composition frame chart
Fig. 3 is the one-piece construction synoptic diagram of the 6DOF motion platform of light flight simulating device
Fig. 4 is the front view of the 6DOF motion platform of light flight simulating device
Fig. 5 is the left view (right side view and left view figure symmetry) of the 6DOF motion platform of light flight simulating device
Fig. 6 is the vertical view of the 6DOF motion platform of light flight simulating device
Fig. 7 is the main beam structure synoptic diagram
Fig. 8 is the main beam structure vertical view
Fig. 9 is the bow word beam synoptic diagram of main beam structure
Figure 10 is the front beam synoptic diagram of main beam structure
Figure 11 is the truss-frame structure front view
Figure 12 is truss-frame structure left view (a right side view and left view figure symmetry)
The label title of Fig. 3～Figure 12: 1, girder.2, truss-frame structure.3, jociey stick.4, pedal.5, leading screw.6, motor.7, chassis.8, Gong Ziliang.9, front beam.11, support bar.12, truss support connecting link.13, floor.14, seat.15, instrument and equipment cabin.
Embodiment
Fig. 2 is the composition frame chart of light flight simulating device, comprises 6DOF motion platform, motion controller, the computing machine that is used for processing graphics and the helmet, main steering force feedback unit, sound is synthetic and loudspeaker, is used for transaction module and core calculations with computing machine, jociey stick, pedal, switch.Wherein 6-dof motion platform such as Fig. 3 are to shown in Figure 12.Mainly comprise girder 1, truss-frame structure 2, jociey stick 3, pedal 4, leading screw 5, motor 6, chassis 7.
This motion platform bears the load of operator and other equipment.The girder of motion platform is made up of by connector engages two Gong Ziliang and front beam.The girder concrete structure is seen Fig. 7 to Figure 10.From in appearance, the external form of whole girder is the bow font, has adopted side setting type motion platform layout (side setting type is meant that the tie point of motion platform and driving stem is positioned at platform side, rather than the bottom surface), effectively reduces structure height.The bow tee beam is convenient to the user and is entered operating position, and is simultaneously also attractive in appearance.Girder is connected by joint with the connected mode of leading screw.Be connected by an equivalent compound spherical hinge between per two rhizoid thick sticks and the platform, be used to realize the six-freedom motion of upper mounting plate.
Motor connected with being connected by pallet of chassis, and urceolus is installed on the rotor, and ball-screw nut is installed on the urceolus, and nut and leading screw constitute screw pair.Motor bottom is connected with pallet, all is to connect together by 6 concentric uniform screws.After motor rotates, drive nut by urceolus and rotate, and leading screw can not rotate around its axis, so just realized the flexible of leading screw.
The motor pallet cuts with scissors (Hooke's hinge) with chassis seating by a cross and links to each other.Chassis seating and chassis are closely to link together by 4 screws.Six motors all adopt aforesaid structure.
Truss-frame structure is all made by aluminium, and Figure 11 and 12 is the truss-frame structure under the seat, and the angle aluminium of employing all is the model that meets national standard.Between angle aluminium and the angle aluminium, use aluminium flake, link to each other by riveted joint.The space of seat bottom can be used for placing relevant control assembly.
Jociey stick 3, pedal 4 are installed on the truss-frame structure 2 as two relatively independent parts, employing is based on the main control simulation of the flight system of true profile, the jociey stick of being with force feedback, pedal, throttle lever etc., be used to gather user's input information, and these information transmission are handled in main control computer by sensor, pass through analyzing and processing data, motion according to models such as flight dynamics control motor, and then control six each flexible acceleration with leading screw, finally realize the motion of motion platform.In the controlled motion platform motion, also to control the variation of virtual environment what comes into a driver's, to realize, consistent with the sporting flying that motion platform is corresponding with the what comes into a driver's that the operator the was seen motion of going up the helmet.This has just realized the existing real sense of touch of simulator, is no lack of stereoscopic sensation again.In the middle of the design of what comes into a driver's, can realize different type simulations by changing virtual environment, reequip very flexible.
During operator's operating switch, what its hand was touched is true switch, and what eyes were seen is the Computerized 3 D moulding of virtual views, i.e. virtual cockpit (containing switch) and virtual hand.
The actual hand of operator be positioned with dual mode, the one, adopt data glove, the 2nd, adopts contactless video measuring to locate.The position that is used for determining the virtual views virtual hand through the position of actual hand in the passenger cabin coordinate system that location algorithm obtains.
Claims (2)
1. light flight simulating device, it is characterized in that comprising 6-dof motion platform, motion controller, the computing machine and the helmet that are used for processing graphics, main steering force feedback unit, synthetic and the loudspeaker of sound, be used for transaction module and core calculations computing machine, jociey stick, pedal, switch, handle, jociey stick wherein, pedal, switch, the output signal of handle is sent into the input that is used for transaction module and core calculations usefulness computing machine respectively, the input of motion controller is sent in the output of this computing machine respectively, be used for the input of the computing machine and the helmet of processing graphics, the input of main steering force feedback unit, the synthetic input that reaches loudspeaker of sound, the output signal of three unit of aftermentioned directly offers the driver respectively, and the output signal of motion controller offers the driver after via the 6DOF motion platform, described 6DOF motion platform comprises girder (1), truss-frame structure (2), jociey stick (3), pedal (4), leading screw (5), motor (6), chassis (7), and switch, two bow word beams (8 about its middle girder (1) comprises, 9) and front beam (10), about two bow word beams (8,9) a end is connected, two bow word beams (8,9) it is the structure of equilateral triangle that the other end is connected in front beam (10) two ends formation vertical view respectively; Truss-frame structure (2) comprises left and right sides truss support connecting link (12), floor (13), seat (14), instrument and equipment cabin (15), seat (14) is installed between latter half of floor, floor (13) and the girder (1), girder (1) rear end and floor are linked together, under-seat is instrument and equipment cabin (15), about an end of two truss support connecting links (12) be connected on the floor of the first half left and right sides, floor, about the other end of two truss support connecting links (12) be connected on the front beam (10) of girder (1); Chassis (7) is the regular hexagon structure, orthohexagonal six drift angle places are respectively by connecting the end that pallet connects motor (6), the other end of motor (6) is by connecting the end that pallet connects leading screw (5), is connected in three drift angle places and girder (1) formation one one-piece construction of triangle girder (1) after the other end of two adjacent rhizoid thick sticks (5) is connected respectively; Jociey stick is installed in the centre of the front beam (10) of girder (1), about front end passes through two support bars (11) be connected truss-frame structure (2) about on the two truss support connecting links (12), the rear end links to each other with handle; Pedal (4) is installed in the front portion on the floor (13) of truss-frame structure (2); Switch is installed in the platform appropriate location by the actual passenger cabin layout of institute's simulation aircraft at 1: 1.
2. light flight simulating device according to claim 1 is characterized in that described switch is meant the equipment that is used for finger manipulation, as the analog switch of knob, toggle, handle.
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| CN 200710021402 CN101034503A (en) | 2007-04-10 | 2007-04-10 | Light flight simulating device |
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| CN 200710021402 CN101034503A (en) | 2007-04-10 | 2007-04-10 | Light flight simulating device |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101848612A (en) * | 2010-05-07 | 2010-09-29 | 北京航空航天大学 | Portable electronic equipment cabin |
| CN102013187A (en) * | 2010-10-29 | 2011-04-13 | 北京航空航天大学 | Flight simulator system with persistent overload simulation capability |
| CN102592484A (en) * | 2010-11-16 | 2012-07-18 | 韩国电子通信研究院 | Reconfigurable platform management apparatus for virtual reality-based training simulator |
| CN103405239A (en) * | 2013-08-07 | 2013-11-27 | 青岛赛博凯尔信息技术有限公司 | Virtual reality therapy system for driving posttraumatic stress disorder |
| CN103594006A (en) * | 2013-11-15 | 2014-02-19 | 李宏图 | Aircraft simulation system and simulation method of aircraft simulation system |
| CN103810917A (en) * | 2014-01-25 | 2014-05-21 | 中国人民解放军空军航空大学军事仿真技术研究所 | Arm changing type moment feedback control device of training plane |
| CN103854534A (en) * | 2014-02-20 | 2014-06-11 | 上海工程技术大学 | Simple flight simulation device |
| CN103886783A (en) * | 2014-03-18 | 2014-06-25 | 西京学院 | Real-time analogue simulation system of aviation piloting instrument |
| CN104616561A (en) * | 2014-12-05 | 2015-05-13 | 中国人民解放军空军航空大学军事仿真技术研究所 | Large transport airplane control loading simulator |
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| CN101848612A (en) * | 2010-05-07 | 2010-09-29 | 北京航空航天大学 | Portable electronic equipment cabin |
| CN102013187A (en) * | 2010-10-29 | 2011-04-13 | 北京航空航天大学 | Flight simulator system with persistent overload simulation capability |
| CN102013187B (en) * | 2010-10-29 | 2012-01-11 | 北京航空航天大学 | Flight simulator system with persistent overload simulation capability |
| CN102592484A (en) * | 2010-11-16 | 2012-07-18 | 韩国电子通信研究院 | Reconfigurable platform management apparatus for virtual reality-based training simulator |
| CN103405239B (en) * | 2013-08-07 | 2016-01-06 | 青岛赛博凯尔信息技术有限公司 | Drive posttraumatic stress disorder virtual reality therapy system |
| CN103405239A (en) * | 2013-08-07 | 2013-11-27 | 青岛赛博凯尔信息技术有限公司 | Virtual reality therapy system for driving posttraumatic stress disorder |
| CN103594006A (en) * | 2013-11-15 | 2014-02-19 | 李宏图 | Aircraft simulation system and simulation method of aircraft simulation system |
| CN103594006B (en) * | 2013-11-15 | 2016-12-07 | 李宏图 | A kind of aircraft simulation system and emulation mode thereof |
| CN103810917A (en) * | 2014-01-25 | 2014-05-21 | 中国人民解放军空军航空大学军事仿真技术研究所 | Arm changing type moment feedback control device of training plane |
| CN103810917B (en) * | 2014-01-25 | 2016-04-20 | 中国人民解放军空军航空大学军事仿真技术研究所 | A kind of arm-type torque-feedback regulating device of change of schoolaeroplane |
| CN103854534A (en) * | 2014-02-20 | 2014-06-11 | 上海工程技术大学 | Simple flight simulation device |
| CN103886783A (en) * | 2014-03-18 | 2014-06-25 | 西京学院 | Real-time analogue simulation system of aviation piloting instrument |
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